Vehicle drive assistant system

a technology of vehicle driver and assistant, which is applied in the field of vehicle driver assistant system, can solve the problems of difficult to recognize the distance or space backward of the vehicle from the photographed image, the lens distortion generated in the displayed image, and the difficulty of a vehicle driver or the like to confirm

Inactive Publication Date: 2007-04-19
SANYO ELECTRIC CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

[0014] An object of the present invention is to provide a vehicle drive assistant system capable of solving such a problem that an object having a height disappears on a synthesized bird's-eye view and which allows that object to be recognized easily.

Problems solved by technology

It is difficult for a vehicle driver or the like to confirm the backward direction because a blind corner occurs when he or she backs up.
However, when a wide angle lens is used to display a wide range, lens distortion is generated in a displayed image.
Further, as an object is farther from the camera, its image is displayed smaller than in case of an ordinary lens, so that it is difficult to recognize a distance or space backward of a vehicle from the photographed image.
However, according to this method, the vehicle driver has to grasp situations around the vehicle by comparing the two bird's-eye views and therefore, burden on the vehicle driver increases thereby possibly damaging the safety.

Method used

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Experimental program
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first embodiment

[0046] Description of generation method of bird's-eye view First, a method for generating a bird's-eye view from an image photographed by a camera will be described.

[0047] Assume that a camera 1 is disposed to be directed obliquely backward at the rear portion of a vehicle 100 as shown in FIG. 4. Angles formed between the horizontal surface and the optical axis of the camera 1 includes two kinds, that is, an angle indicated with α and an angle indicated with β in FIG. 4. The a is generally called look-down angle or angle of depression. In this specification, the angle of β is assumed to be an inclination angle θ of the camera 1 to the horizontal surface.

[0048]FIG. 5 shows the relationship among a camera coordinate system XYZ, a coordinate system Xbu, Ybu of an image pickup face 5 of the camera 1 and a world coordinate system XW, YW, ZW containing two-dimensional ground [xyz]=[1000cos⁢ ⁢θ-sin⁢ ⁢θ0sin⁢ ⁢θcos⁢ ⁢θ]⁢{[xwywzw]+[0h0]}(1)

coordinate system XW, ZW.

[0049] In the camera coo...

second embodiment

[0075] The electric configuration of the vehicle drive assistant system of the second embodiment is the same as that of the first embodiment. The processing content of the image processing unit 2 is different between the second embodiment and the first embodiment. According to the second embodiment, the all around bird's-eye view taking preference to the side camera and the all around bird's-eye view taking preference to the front / rear cameras are displayed alternately on the monitor. The all around bird's-eye view taking preference to the side camera refers to an all around bird's-eye view obtained by adopting only a bird's-eye view obtained from images photographed by the right and left cameras at each overlapping portion in which two bird's-eye views overlap each other in an all around bird's-eye view coordinate system shown in FIG. 9. More specifically, it refers to an all around bird's-eye view obtained by adopting only the bird's-eye image 10L obtained from the left side camer...

third embodiment

[0089] Although according to the second embodiment, the all around bird's-eye view taking preference to the side camera and the all around bird's-eye view taking preference to the front / rear cameras are displayed on the monitor alternately, the all around bird's-eye view taking preference to the side camera and the all around bird's-eye view taking preference to the front / rear cameras may be changed over depending on the travel condition of a vehicle.

[0090] If the object 200 having a height exists on the left side obliquely backward of the left rear end of the vehicle as shown in FIG. 2, this object 200 moves out of the photographing area of the rear camera 1B when the vehicle backs up straight. Then, in this case, the all around bird's-eye view taking preference to the side camera is generated and displayed. On the other hand, if the object 200 having a height exists on the left side obliquely backward of the left rear end of the vehicle as shown in FIG. 2, this object 200 moves o...

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Abstract

A vehicle drive assistant system which converts, into birds' eye images, images photographed by a plurality of image pickup devices loaded on a vehicle and for photographing the surrounding of the vehicle, generates a synthesized bird's-eye view by synthesizing each of the obtained bird's-eye images and displays a generated synthesized bird's-eye view on a display unit, the vehicle drive assistant system comprising a means for, when each overlapping portion in which two bird's-eye views overlap each other is synthesized, setting a border line which allows two regions to be alternately disposed with respect to the overlapping portion and adopting a bird's-eye view in a region separated by the border line in the overlapping portion while adopting the other bird's-eye view in the other region separated by the border line so as to synthesize the overlapping portion.

Description

BACKGROUND OF THE INVENITON [0001] 1. Field of the Invention [0002] The present invention relates to a vehicle drive assistant system. [0003] 2. Description of the Related Art [0004] It is difficult for a vehicle driver or the like to confirm the backward direction because a blind corner occurs when he or she backs up. For the reason, there has been developed a system which is provided with a vehicle loaded camera for monitoring the backward scene which is likely to becomes a blind corner for a vehicle driver so as to display its photographed image on a screen of car navigation unit or the like. [0005] However, when a wide angle lens is used to display a wide range, lens distortion is generated in a displayed image. Further, as an object is farther from the camera, its image is displayed smaller than in case of an ordinary lens, so that it is difficult to recognize a distance or space backward of a vehicle from the photographed image. [0006] Thus, a research for not just displaying ...

Claims

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Application Information

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Patent Type & Authority Applications(United States)
IPC IPC(8): H04N13/02H04N7/18
CPCH04N7/181B60R1/00B60R2300/607B60R2300/303G06T3/4038
Inventor YANG, CHANGHUIHONGO, HITOSHI
Owner SANYO ELECTRIC CO LTD
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